def __init__(self,
flags,
normalize_points=NormalizePoints,
point_dataset=PointDataset,
transform_points=TransformPoints):
self.flags = flags
if flags.dtype == 'points':
self.dataset = point_dataset(ParseExample(**flags),
normalize_points(),
transform_points(**flags),
Points2Octree(**flags))
elif flags.dtype == 'octree':
self.dataset = OctreeDataset(ParseExample(**flags))
else:
print('Error: unsupported datatype ' + flags.dtype)
def __call__(self, points):
angle, scale, jitter, ratio, dim, angle, stddev = 0.0, 1.0, 0.0, 0.0, 0, 0, 0
if self.distort:
angle = [0, 0, 0]
for i in range(3):
interval = self.interval[i] if self.interval[i] > 1 else 1
rot_num = self.angle[i] // interval
rnd = tf.random.uniform(shape=[],
minval=-rot_num,
maxval=rot_num,
dtype=tf.int32)
angle[i] = tf.cast(
rnd, dtype=tf.float32) * (interval * 3.14159265 / 180.0)
angle = tf.stack(angle)
minval, maxval = 1 - self.scale, 1 + self.scale
scale = tf.random.uniform(shape=[3],
minval=minval,
maxval=maxval,
dtype=tf.float32)
if self.uniform_scale:
scale = tf.stack([scale[0]] * 3)
minval, maxval = -self.jitter, self.jitter
jitter = tf.random.uniform(shape=[3],
minval=minval,
maxval=maxval,
dtype=tf.float32)
minval, maxval = self.dropout[0], self.dropout[1]
ratio = tf.random.uniform(shape=[],
minval=minval,
maxval=maxval,
dtype=tf.float32)
minval, maxval = self.drop_dim[0], self.drop_dim[1]
dim = tf.random.uniform(shape=[],
minval=minval,
maxval=maxval,
dtype=tf.int32)
# dim = tf.cond(tf.random_uniform([], 0, 1) > 0.5, lambda: 0,
# lambda: tf.random.uniform(shape=[], minval=minval, maxval=maxval, dtype=tf.int32))
stddev = [
tf.random.uniform(shape=[], minval=0, maxval=s)
for s in self.stddev
]
stddev = tf.stack(stddev)
radius, center = tf.constant(1.0), tf.constant([0.0, 0.0, 0.0])
points = transform_points(points,
angle=angle,
scale=scale,
jitter=jitter,
radius=radius,
center=center,
axis=self.axis,
depth=self.depth,
offset=self.offset,
ratio=ratio,
dim=dim,
stddev=stddev)
# The range of points is [-1, 1]
return points # TODO: return the transformations